An efficient complete coverage path planning in known environments
You Zhang · Journal of Northeast Normal University · 2011
This paper proposed a near-optimal complete coverage path planning algorithm based on unstructured grid environments.Initially,the robot adopts internal spiral coverage.Only when the robot enters into deadlock,namely,the grids around it either covered or occupied by obstacles,the grass fire algorithm is adopted to search a vacant grid that is nearest to the robot's current position.Then the robot performs A* algorithm to plan a path to the new vacant grid and continues its coverage.Simulation results show the proposed algorithm can cover completely and the number of duplicated grids is relatively low.Finally,this paper testified the efficiency by the graph theory.